{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "读取文件,一个是估计的当地坐标值，一个是期望是当地坐标"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "(time_stamp,local_x,local_y,local_z) = np.loadtxt(open(\"d:\\\\flightdata\\\\newfile\\\\log_301_2020-3-12-14-34-46_vehicle_local_position_0.csv\",\"rb\"),skiprows=9000,delimiter=\",\",usecols=(0,4, 5, 6),unpack=True)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "读取的参考时间戳和当地的位置信息，截取的后半段数据，由于前半段开机没有起飞，都是无用数据"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "(local_sp_timestamp, local_sp_x, local_sp_y, local_sp_z) = np.loadtxt(open(\"d:\\\\flightdata\\\\newfile\\\\log_301_2020-3-12-14-34-46_vehicle_local_position_setpoint_0.csv\",\"rb\"),skiprows=2,delimiter=\",\",usecols=(0,1,2,3),unpack=True)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [],
   "source": [
    "import matplotlib.pylab as plt"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "(9920,)\n",
      "(3945,)\n"
     ]
    }
   ],
   "source": [
    "print(time_stamp.shape)\n",
    "print(local_sp_timestamp.shape)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[-152.586324 -152.485524 -152.384751 ...  860.62886   860.729689\n",
      "  860.829644]\n",
      "[-914.632797 -914.532342 -914.431896 ...  423.691445  423.792025\n",
      "  423.869237]\n"
     ]
    }
   ],
   "source": [
    "ref_time=(time_stamp-time_stamp[10482-9000])/1000000\n",
    "ref_sp_time=(local_sp_timestamp-local_sp_timestamp[41])/1000000\n",
    "print(ref_time)\n",
    "print(ref_sp_time)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "3d空间曲线"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [],
   "source": [
    "from mpl_toolkits.mplot3d import axes3d"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "起飞阶段11204-9000"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 14,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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kbiWKi4u5+eabGTNmDCNHjuTdd9+tM19RURFTpkxh4MCB3HDDDb5uMc4991xqutZ/7rnn6N+/P+eeey633XYbd955p2/9zz77jDPPPJPevXv7st17770sWbKEjIwMHn/88ePer6bzx5r7HpYsWQJ4OvA744wzGDVqFFdffTVFRUU8+eST7Nu3j/POO4/zzjsP8Nz5/dOf/pRRo0ZxwQUX+K66W7NmDePHj2f48OF85zvf8Y0/UnufpaWlMWvWLEaNGsWwYcPYsmUL2dnZ/PWvf+Xxxx8nIyPDl+eU1XdXWzg8Iv2O5ldfzVX4uT799NNORzltiYnz9Zxzrnc6Rkhy+o7mVatW6cSJE32vBw0apLt27dKPPvpIb7vtNq2urla3263f/va39dNPP9WdO3dqdHS0rl69WlVVr776an355ZdVVXXatGn61ltvaXl5uaanp+vy5ctVVfXo0aNaWVmpn3zyiX77299WVdX77rvPt97hw4e1X79+WlRUdFy2Tz75RNu1a6d79uxRt9ut48eP1yVLlqiq6jnnnKMrVqzQvXv3aq9evbSgoEArKir0rLPO0jvuuMOXZ8qUKep2u3Xjxo3ap08f33Zrcpzo0Ucf1d/+9reqqlpVVaXHjh3TAwcO6Nlnn+3LN2fOHP3Nb36jqqq9evXSAwcO+NYHdN68eaqq+pvf/MaXZdiwYbp48WJVVf31r3+td99993H7rGZbTz75pKqq/vnPf9ZbbrlFVVVnzZqljzzySJ15m3pHs43RHMb+9a88IIsxY65xOspp69SpipycSqdjhIUZM2BfM/YKlpICc+fWP9+6zj7emDFjuPnmm6msrOTKK68kIyODTz/9lE2bNjFhwgTAM15ETZ9QJ4qKiuLaa68F4MYbb+Sqq67i6NGjHDlyhHPOOQeAadOmcfXVV9e5/lVXXQV49uuCBQvqXOZ0WFEIY2vWKC7XRoYPH+50lNOWnKxkZYXnfRbB1tAHeKBY19n/NXHiRD777DPee+89brrpJn7+85/TsWNHLrroIl577bVG1z9RU+8vqslb1+/aHOycQhjLz69kyJBkYmNjnY5y2nr1iqa4uIOvG2YTWqzr7P/atWsXXbp04bbbbuOWW25h1apVjB8/ni+++ILt27cDUFJS4muNnLit6upq3zmCV199lbPOOov27dvTsWNH3/mAl19+2ddq8EdzdvVtLYUwVVICRUX5viZ6uBswoA3Qg5ycnNMa8McEhnWd/d+usxcvXswjjzxCTEwMCQkJ/O1vfyMpKYkXX3yR6667jvLycgB++9vf0r9/f2bMmMG3vvUtkpOT+eSTT2jTpg0bN25k9OjRtG/fnjfeeAOAl156idtvv52SkhJ69+7NCy+84PfvOHnyZKZMmcK7777LU089xdlnn93k/eRT38mGcHhE8onm998/qDBLH3vsMaejNIt33/1S4QX9+OOPnY4Scpw+0dwShFLX2W3atAnq+4VS19kmgD78MA9Y3WJaCkOHdgMS2bNnj9NRTAtkXWf7zw4fhanly8uBNYwYMcLpKM2ie/cUYCM5OTlORzEtUCh1nR3q582spRCmsrOFnj3xXWYX7uLi4oiNjWP3bmsp1EX9uCrGmBOdyt9NwIqCiDwvIvkisqHWtDdqjcKWLSJrvNPTRKS01ry/BipXS1BaCoWF+WRmjnY6SrNKSKgkO/uw0zFCTnx8PAUFBVYYTJOoKgUFBU0euCqQh49eBP6EZ5xmAFT12prnIvIH4Git5Xeoass4QB5gS5cWU1z8BaNHt6yi0KlTKdnZzX/ddbjr0cNzVZYNQmSaKj4+3ndjn78CORznZyKSVtc88dytcQ1wfqDevyV7//19wFpGjpzhdJRmlZJSzcqVjV/OGGliYmJIT093OoaJEE6dUzgbyFPVbbWmpYvIahH5VETqvchWRGaISJaIZEXqN6evvioF1jJq1CinozQrzw1sHUP+RJwxLZlTReE6oPb94LlAqqqOBH4CvCoidfYFrapzVTVTVTOTkpKCEDX0ZGdDly6ldOvWzekozap//1ZAT7sCyRgHBb0oiIgLuAp4o2aaqparaoH3+UpgB9A/2NnCgSoUFh5j5MiWd/pl8OD2QAr7mrO3N2NMkzjRUrgQ2KKqvq+DIpIkItHe572BfsA3DmQLebt2VVJUtLXF3J9Q26BBiUAXKwrGOCiQl6S+BiwFBohIjojc4p01leMPHQFMBNaJyFrgbeB2VT0UqGzh7KOPcqiu3tBi7mSurWfPFCCKvXv3Oh3FmIgVyKuPrqtn+vQ6ps0HGu+60PDZZwXARkaMuM3pKM0uISEBl8tlLQVjHGR3NIeZdeuU2Nit9O/fMk+5tGol7N4dmVeVGRMKrCiEmf37lcGDO+Nytcxuq9q3L2bXLhuBzRinWFEII26358qjESPCf6S1+iQlVZCbayOwGeMUKwphJCvrEOXlGxg2bJjTUQImORkOHIi1fn6McYgVhTDywQf7gPUtYkzm+qSmunC7kzh82DrGM8YJVhTCyFdfFQPrWnRLoW/fNkAKubm5TkcxJiJZUQgjW7bEkJiYR9euXZ2OEjADB7YDku2yVGMcYkUhjBw5Usbw4f3wdDLbMvXr1wXoYC0FYxxiRSFMFBS4KSra26LPJwCkpCQDWFEwxiFWFMLERx/tw+1e1aLPJ4DnruboaLur2RinWFEIE4sWHQLWtviWAkCrVrBnT4HTMYyJSFYUwsSqVW5gHYMHD3Y6SsC1b1/C7t12V7MxTrCiECZyc6Ffvza0bt3a6SgBl5hYjh09MsYZVhTCQFUVFBYebdHdW9SWnCwcPBhjdzUb4wArCmFgzZoSSkrWtPiTzDVSU11UViZy7Ngxp6MYE3ECOcjO8yKSLyIbak2bLSJ7RWSN93FZrXn3ich2EdkqIpcEKlc48nRvsSYiTjID9O7dCruBzRhnBLKl8CJwaR3TH1fVDO/jfQARGYxnRLYh3nWerhme08CXXxYDayOmpTBwYHsg2e5VMMYBASsKqvoZ4O+QmlcAr6tquaruBLYDYwOVLdxs3RpF69a7SU9PdzpKUAwYkAR0sqJgjAOcOKdwp4is8x5e6uid1h3YU2uZHO+0k4jIDBHJEpGsAwciY4SuI0dKGDasP1FRkXEKyHNXs9jhI2McEOxPmb8AfYAMIBf4g3d6XZ351HnpiarOVdVMVc1MSkoKTMoQcuCAUlSUzciRI52OEjRt27YlKiqa/fv3Ox3FmIgT1KKgqnmq6lbVauAZ/nuIKAfoWWvRHoB9TQQWLcqjsnIVGRkZTkcJGhEhPh727vX36KMxprkEtSiISHKtl98Baq5M+gcwVUTiRCQd6AcsD2a2UPWf/+QBGyOqKAC0bVtMTk6F0zGMiTgBG/1dRF4DzgUSRSQHmAWcKyIZeA4NZQM/AFDVjSLyJrAJqALuUFV3oLKFk9WrKxDZHDFXHtXo0KGC/fvt5jVjgi1gRUFVr6tj8nMNLP8Q8FCg8oSrPXui6Ns3JiK6t6gtKama9esD9udpjKlHZFzOEsaKiooYOrTld4J3oq5dlcLC1tbVhTFBZkUhhO3ZU05JSTZDhgxxOkrQdevmorq6o3V1YUyQWVEIYQsX7kV1Q0R0l32iHj3igc4cPHjQ6SjGRBQrCiHs888PAxsjsqWQmtoaSKSgwAbbMSaY7ExeCFu/3o3IFgYMGOB0lKBLS2sPlFlLwZggs5ZCCMvJiaZv31ji4uKcjhJ0XbsmAlFWFIwJMisKIUoVioqKI/LKI4DOnTsD2OEjY4LMikKI8lx59E1EnmQGaN++PSDWUjAmyKwohKiaK48i8SQzePo/io2N5sCBw05HMSaiWFEIUZ9/fgTYGLEtBYBWrUrJzS1zOoYxEcWKQohau1YRWR+RVx7VSEgoIy/PusAyJpisKISo3Fyhb982xMfHOx3FMe3bV3HwoHVzYUwwWVEIQVVVUFR0lCFDIvfQEUCnTtUcPmxDdRsTTFYUQtD69aUUF6+JuO6yT5SUFEVhYax1imdMEFlRCEHvvZcDrImoITjrkpwcg9vdgcLCQqejGBMxAlYUROR5EckXkQ21pj0iIltEZJ2I/F1EOninp4lIqYis8T7+Gqhc4eDzzwuBdRFfFLp3j8P6PzImuALZUngRuPSEaR8DQ1V1OPA1cF+teTtUNcP7uD2AuULeli1RtG+/j169ejkdxVGpqW2wnlKNCa6AFQVV/Qw4dMK0hapa5X35FdAjUO8fzo4cKWHUqCGIiNNRHNWrV1ugkxUFY4LIyXMKNwMf1HqdLiKrReRTETnbqVBOy8+vorBwNxkZGU5HcVy3bomAyw4fGRNEjnSdLSK/BKqAV7yTcoFUVS0QkdHAOyIyRFVPGnZLRGYAMwBSU1ODFTloPvhgL9XVq6wo8N9O8aylYEzwBL2lICLTgEnADeq91lBVy1W1wPt8JbAD6F/X+qo6V1UzVTUzKSkpWLGDZtGig8A6KwpAhw4dAOsp1ZhgCmpREJFLgXuAy1W1pNb0JBGJ9j7vDfQDvglmtlCxZk01MTGbGThwoNNRHBcVFUVsbDT5+VYUjAmWgB0+EpHXgHOBRBHJAWbhudooDvjYexL1K++VRhOBB0SkCnADt6vqoTo33MLl5ipDhnQmNjbW6SghIT6+zDrFMyaIAlYUVPW6OiY/V8+y84H5gcoSLiorlWPHDjNypB06qpGQUE5+vnWKZ0yw2B3NIeSLLw5SUbHBzifU0r59JQcOWDcXxgSLFYUQ8q9/7QNWWlGopVOnao4csT9TY4LF/reFkC+/rACyGDFihNNRQkZSknD0qHWKZ0ywNKkoiEibmquETPPLzo4mLc3tHZ/YAHTrFoPb3Z7i4mKnoxgTERosCiISJSLXi8h7IpIPbAFyRWSjt3O7fsGJ2fKpwrFjhYwcaa2E2lJSPJ3i2Q1sxgRHYy2FT4A+eC4l7aaqPVW1C3A2nr6L5ojIjQHOGBE2bSqhuHiTnU84Qa9ebbCiYEzwNHZJ6oWqWnniRO89BPOB+SISE5BkEea99/YAa8nIuMzpKCElLa0d0NnuajYmSBosCrULgoh0BHrWXkdVV9VVNEzTLVlyDE9R+IXTUUJK166dgAJrKRgTJH7dvCYiDwLT8fRJVHMZiALnByZW5Nm0KYoOHfbSs2dPp6OElMTEROBrKwrGBIm/dzRfA/RR1YpAholkBQUVZGT0jvgxFE7k6RRP7PCRMUHi7yWpG4AOgQwSyYqKlOLiPIYNG+Z0lJATHR1NTIyLgwcjsissY4LO35bC74DV3vGWy2smqurlAUkVYRYtyqOqag1DhgxxOkpIio8vY9++ksYXNMacNn+LwkvA74H1QHXg4kSmf//7ALCOoUMvdDpKSEpIKLNO8YwJEn+LwkFVfTKgSSLYypWVwDprKdSjXTvrFM+YYPG3KKwUkd8B/+D4w0erApIqwuzaFU1KSjkdO3Z0OkpI6tixmm3brJsuY4LB36Iw0vtzfK1pdklqM6iuhqKiQsaPH+x0lJCVlCRkZdk9ksYEg19FQVXPa+qGReR5PGMx56vqUO+0TsAbQBqQDVyjqoe98+4DbsEz8tr/qOpHTX3PcLR1q5vi4nUMHTrU6Sghq2tXF1VV7SgpKaF169ZOxzGmRWusQ7wbRaTeZUSkj4icVc/sF4FLT5h2L7BIVfsBi7yvEZHBwFRgiHedpyOlN9aPPsrD7V5h5xMa0L27dYpnTLA01lLojOdS1JXASuAAEA/0Bc4BDuL9YD+Rqn4mImknTL4Cz7jN4LmiaTFwj3f666paDuwUke3AWGBpk36bMPTpp0eBNWRk3OV0lJDVs2dravo/Sk1NdTqOMS1aY30f/VFE/oTn3MEEYDhQCmwGblLV3U18v66qmuvddq6IdPFO746n19UaOd5pJxGRGcAMoEV8QGzYoLhcX1tLoQFpaW2xloIxwdHoOQVVdQMfex+BUlffDnVeg6iqc4G5AJmZmWF/neLhw8UMHdqfuLg4p6OErOTkTsAR6+rCmCAI9nV+eSKSDOD9me+dnoOnB9YaPYB9Qc4WdLm5SlHRdkaOHNn4whHM0yke1lIwJgiCXRT+AUzzPp8GvFtr+lQRiRORdKAfsDzI2YJu0aICysu/Yj2Dw1AAABg9SURBVNSoUU5HCWmdOnUCsJaCMUHg730KTSYir+E5qZwoIjnALGAO8KaI3ALsBq4GUNWNIvImsAmoAu7wHrZq0T7++ACwmpEjr3E6SkhzuVy4XDEcOGAtBWMCzd/xFOKA7+K5v6D2IDsP1LeOql5Xz6wL6ln+IeAhf/K0FKtWuYH1jBhh4zI3Jj6+jP37rVM8YwLN35bCu8BRPJelljeyrPFTfn45Awd2IyEhwekoIa9Nm3L2769yOoYxLZ6/RaGHqp54I5o5DRUVUFh4kAsusJPM/mjXroKDB8P+YjNjQp6/J5q/FBEbAaYZLVt2mNLSNXaS2U8dO1Zz6JB1imdMoDXYUhCR9XjuF3AB3xeRb/AcPhJAVXV44CO2TB99tA/YyPDhNzodJSx06RLF6tXRqKoNWWpMADV2+GhSUFJEoGXLSoG1DBv2e6ejhIXk5FgqK9tTVFRE27ZtnY5jTIvVWDcXu4IVJNJs2xZDx455dOvWzekoYSE1NR5IIj8/34qCMQFkB2kdcvSop3sLOxTin/T0NtQUBWNM4FhRcEBBQRWFhXsZPXq001HCRt++HYBEKwrGBJgVBQd88MEu3O51VhSaICWlC+CyomBMgFlRcMCSJYfwXHlkF2/5KykpCRArCsYEmBUFB6xdW4XIZvr37+90lLARHx+Py2UtBWMCzYqCA3bvjiU9vZr4+Hino4SVuDhl377DTscwpkWzohBkqlBYWMLgwdZKaKqEhFL27at0OoYxLZoVhSDbubOSkpKvGTRokNNRwk7HjhXk5VU7HcOYFs2KQpB98ME+qqtX2UnmU9C5czUHD9qfrDGBFPT/YSIyQETW1HocE5GZIjJbRPbWmn5ZsLMFw+LFR4HVNobCKejaNYpjx+Jwu1v8+EvGOCboRUFVt6pqhqpmAKOBEuDv3tmP18xT1feDnS0Y1q8Hl2szAwYMcDpK2OnRIxbVRA4dOuR0FGNaLKfb4hcAOyKpj6WCgjKGDUsnNjbW6ShhJzW1FdDFLks1JoCcLgpTgddqvb5TRNaJyPMi0rGuFURkhohkiUjWgQMHgpOymRw5ohQW7iUjI8PpKGGpT5+2WP9HxgSWY0VBRGKBy4G3vJP+AvQBMoBc4A91raeqc1U1U1UzPXe5ho/FiwsoL19uReEU9enTEehMXl6e01GMabGcbCl8C1ilqnkAqpqnqm5VrQaeAcY6mC0gPvwwD1hjReEUJSd3AaKspWBMADlZFK6j1qEjEUmuNe87wIagJwqwrKxKYI1deXSKOnXqhPV/ZExgNTbyWkCISGvgIuAHtSY/LCIZeIb/zD5hXouwd281aWmtaN++vdNRwlJUVBSxsbFWFIwJIEeKgqqWAJ1PmHaTE1mCpbISCgsPc+aZI52OEtZatapmzx7r/8iYQHH66qOIkZVVTHHxKjufcJo6dSpl584Kp2MY02JZUQiS997bB6y0onCaunevYO9eu8fDmECxohAkX3xRClhL4XT16RNFUVEihYWFTkcxpkWyohAkO3YIHTseokePHk5HCWtDhrQCerNnzx6noxjTIllRCAJVOHbsGCNHjkBEnI4T1kaN6gSksXv3bqejGNMiWVEIgu3bqygq2mCHjppB//49gFbs2hUx3WUZE1RWFILggw/24XavtqLQDFJSUhCJspaCMQFiRSEIPv30CLDWikIziI6OpnXrSr7+2m5gMyYQrCgEmCqsXRtNTMxWBg4c6HScFqFz52Ns21bldAxjWiQrCgGWlQU7dgxh2LB0YmJinI7TIvToUcmePY7cjG9Mi2dFIcCKi5X4+PsZOdK6t2gufftGc+hQeyoq7M5mY5qbFYUAe+ml1ykrO8rgwYOdjtJiDBnSGkgPqXsVli1by/nn/4QFCxZQWlrqdBxjTpkVhQD74osVQDlTp051OkqLMWpUEtCD7Oxsp6P43HzzCj755Bq++929zJw50+k4xpwyKwoBoqrcdNNNbNu2iwkTxpCSkuJ0pBYjI2Mo4OLf//53wN9LVTl06BDbt29HVetcZseOHWzalMrtt79GRsbzvPLKKxQVFQU8mzGBYEUhQObPn8+8efOAOHr37u50nBYlMTGRpKQkXn/9jdPe1r59+xg58n5SU+9h6dKvfNOXLl3OkCG/pVWrp+jceRH9+m3isstmUl1dfdI27r//74hs5de/voennnqK4uJiFixYcNrZjHGCXcLRBK+9Bv58ASwoKOAPf1gF3AqcSb9+qYGOFnFGj4YPP5xIdnY2aWlpJ81XhZ074dAhcLk8j6NHq3jhhXdYunQVGRljKS6uYOHCYioqkoiLg4sueodnn93FH/+4la++GkvbtpVcccVRhg9X9uw5yv/935V897t38OabTxITE8OHHy5m8uTPqapK5bLLVpOSkkJycjJ9+vThxRdf5Hvf+17wd4wxp0nqaxIH9E1FsoFCwA1UqWqmiHQC3gDS8Iy8do2qNjiaSmZmpmZlZQU2bC3jxsEvf9n4co899hhLly6lZ8+e7Nixnd27X6Fnz7aBDxhBsrLWMmbMFn7+8y7Mnn0erVtDQQG8/DJ88QXk55eQnb2Iysp9xMS0oqpKKCjYRXn5fqAcqEDEzaBBrXnzzbsRiWbEiHVUVXWgVassZsyAX//6B3Tu7BkLSlW56qo5vPPOBP73f5fwwAM/o0uXZzh27BJgP1lZrRk9ejQADzzwALNmzSI7O5tevXo5to+MqY+IrFTVzDrnOVgUMlX1YK1pDwOHVHWOiNwLdFTVexraTrCLwuTJ8M9/Nr5c7969GTNmDHPnziUvL4/+/fsHPlyEcbvdtG/fg3795pGaegFlZdC2Ldx0Exw9+g533TWN6upqevbsyZEjRxg0aBC9e/dm8uTJXHbZZezfv5+uXbsed+/IunXryM/P56yzziI+Pr7O973kkv/HwoW9adXqRUpL7+BnP8uib9/+/OAHN/iWyc7OJj09nQcffJBf/epXAd8XxjRVQ0UBVQ36A09LIPGEaVuBZO/zZGBrY9sZPXq0BtOkSY0vU1paqiKis2bNCnieSHfBBRfo8OHDtaqqSlVVDx06pDNmzFBAx40bpzt37mz29zx69KgOHvxLFfmrXn75z7W6urrO5c4880wdN25cs7+/Mc0ByNJ6PledOqegwEIRUeD/VHUu0FVVcwFUNVdEutS1oojMAGYApKYG91i9P42qbdu2oarWpUUQXHzxxdxzzz24XC569OhBfn4+VVVV/OxnP+Ohhx4iNrb5R2hr164d69c/QGlpKW3atKl3ubPPPpvHHnuM0tJSWrVq1ew5jAkUp4rCBFXd5/3g/1hEtvi7oreAzAXP4aNABTxVW7duBWDAgAEOJ2n5fvKTn5CQkMC2bdvYs2cPaWlp3HDDDQG/ezwqKqrBggAwYcIEfv/737NixQomTpwY0DzGNCdHioKq7vP+zBeRvwNjgTwRSfa2EpKBkOsG05/xcbZs8dQ3O48QeC6Xix/96EdOx6jTGWecAcDSpUutKJiwEvT7FESkjYi0rXkOXAxsAP4BTPMuNg14N9jZGuPP4aMtW7aQmpra6DdJ07IlJibSr18/li5d6nQUY5rEiZZCV+Dv3mEpXcCrqvqhiKwA3hSRW4DdwNUOZDttW7dutUNHBoDx48ezcOFCVNWGYTVhI+gtBVX9RlVHeB9DVPUh7/QCVb1AVft5fx4KdrbGNPb/WlXZsmWLnWQ2gKco5OXlsW3bNqejGOM36+aiGeXm5lJUVGRFwQBw+eWXExUVxd/+9jenoxjjNysKTdDYOYWak8x2+MgA9OjRg0svvZSXXnoJt9vtdBxj/GJFoRnVFAVrKZga06ZNIycnh8WLFzsdxRi/WFHwk2rj5xS2bt1KQkKCdZNtfCZPnky7du14+eWXnY5ijF+sKPjJn6KwZcsWBgwYYFeaGJ9WrVoxZcoU5s+fT2FhodNxjGmUFQU/+dtSsENH5kQzZsygqKiIZ555xukoxjTKikIzKSkpYdeuXXaS2Zxk3LhxnHfeeTzyyCOUlJQ4HceYBllR8FNjLYWvv/4asJPMpm73338/+/fv56233nI6ijENsqLgp8aKQk1HeFYUTF3OOeccUlNTefvtt52OYkyDrCj4qbGisGXLFkSEvn37Bi+UCRsiwpQpU1i4cCFHjx51Oo4x9bKi0Ey2bt1KWlqa9Z1v6jV58mQqKipYsmSJ01GMqZcVBT/501KwQ0emIWPHjiU6Otp6TjUhzYqCnxoqCtXV1dY7qmlU69atGTx4MOvWrXM6ijH1sqLgp4aKQk5ODiUlJdZSMI0aNGgQmzdvdjqGMfWyotAM7Moj46+BAweyc+dOysrKnI5iTJ2cGHmtp4h8IiKbRWSjiNztnT5bRPaKyBrv47JgZ2tIQy0F6wjP+GvgwIFUV1ezfft2p6MYUycnWgpVwE9VdRAwHrhDRAZ75z2uqhnex/sOZKtXY0Whffv2dOnSJbihTNjp168fgBUFE7KCPhynquYCud7nhSKyGege7BxN1VhRGDhwoHWEZxpVcx+LjcZmQpWj5xREJA0YCSzzTrpTRNaJyPMi0rGedWaISJaIZB04cCBISRtmHeEZf3Xo0IHExERrKZiQ5VhREJEEYD4wU1WPAX8B+gAZeFoSf6hrPVWdq6qZqpqZlJQUtLz1tRQKCwvZu3evXY5q/Na3b19rKZiQ5UhREJEYPAXhFVVdAKCqearqVtVq4BlgrBPZ6lNfUbArj0xT9evXz4qCCVlOXH0kwHPAZlV9rNb05FqLfQfYEOxsDamvKNiVR6ap+vbtS05ODqWlpU5HMeYkQT/RDEwAbgLWi8ga77RfANeJSAagQDbwAweyNdnWrVuJjo6mT58+TkcxYaLmCqQdO3YwdOhQh9MYczwnrj76HKjrMp2QugT1RA21FHr37k1sbGzwQ5mwVPuyVCsKJtTYHc1+aqgo2KEj0xQDBgzA5XLx5ZdfOh3FmJNYUfBTXUXB7Xazbds2KwqmSdq2bcuFF17I66+/TlVVldNxjDmOFYXTsGvXLsrLy+1yVNNkP/zhD9mzZw+vvfaa01GMOY4VBT/V1VKwK4/MqZo0aRJDhw7lj3/8o9NRjDmOFQU/NVQUrKVgmioqKorvf//7rFy5kq+//trpOMb4WFHwU11FYf369XTt2pXExERnQpmwdu211yIivPrqq05HMcbHisJpWLt2LSNGjHA6hglT3bt355JLLuFPf/oThw8fdjqOMYAVBb+d2FKoqKhg06ZNDB8+3LlQJuzNmTOHw4cPc9111xEqHTyayGZFwU8nFoVly5ZRXl7OhAkTnAtlwt6IESP4+c9/zkcffcT5559PRUWF05FMhLOicIreeecdoqKiOOecc5yOYsLcnDlzeOONN9iwYQNvvfWW03FMhLOi4KfaLYXDhw8zd+5crr32Wjp2rHPYB2OaZMqUKaSlpfHCCy84HcVEOCsKfqpdFB5//HGKioq49957nQ1lWoyoqCimT5/Of/7zH9avX+90HBPBrCj4qaYobNq0iTlz5jB16lQ7yWya1e23306HDh24+uqrcbvdTscxEcqKQhOoVnPzzTfTrl07uxPVNLuuXbvyl7/8ha1bt3L99ddbYTCOcGI8hbCk6rlZbdmyZcybN48uXbo4Hcm0QFOmTGHmzJk88cQTbN68mSuuuIK77rqLxMRECgoKqK6uJioqChFB6uq2t5aqqipUFREhOjqa6OhooqKijptfUVHh205lZSWVlZW+5WumqSrV1dW+nzXPa6vZhoigqpSXl1NWVuZbX0SOy13f8+rqasrLy6mqqsLtdvt+1rxfze/gdrspKyvz5al51BTSmmXcbvdx86qrqwFwuVy4XC5fXuC43ykqKoqoqCiqqqqorKz0bavmUbP92tutmaequFyu4/aZPz8bmldWVsbhw4d9uV0uFxMmTODOO+885b+1+oRcURCRS4E/AtHAs6o6p7nfY+3atVxwwTzc7i6oRqEqqAogqEZ7X0ej2so7TaiqiqWqqoBJkyZx/fXXN3ckYwDPh97jjz9OWloar776Kg899BAPP/ww1dXV1qNqmKpd+Or72di8uLg4Onbs6Ps7qKysDNgXUzmx4jtJRKKBr4GLgBxgBXCdqm6qa/nMzEzNyspq8vt888033H33C7jdsYgoUVF4f9Y8h+joalyuSt/rVq3i6d27Iz/60XTatWt3Or+mMX7bvHkzzz77LLGxsaSkpBAdHV3nN/UT1XxbrfkmXPtbbI2oqCji4uJ802JjY3G5XMd9Q42JifF9QNX+sKrd4qi9zerqat+HWHx8vG/9xr4J1zyPiooiPj4el8tFdHS072dUVJTv91BV33I182o/anLUtI5OXAY83d5XVlb6ctdu6dSs73a7cblcxMTEHLet6OhoX4aabddMr71+zf4KRSKyUlUz65wXYkXhDGC2ql7ifX0fgKr+rq7lT7UoGGNMJGuoKITaiebuwJ5ar3O804wxxgRBqBWFutpaxzVlRGSGiGSJSJb1FWOMMc0r1IpCDtCz1usewL7aC6jqXFXNVNXMpKSkoIYzxpiWLtSKwgqgn4iki0gsMBX4h8OZjDEmYoTUJamqWiUidwIf4bkk9XlV3ehwLGOMiRghVRQAVPV94H2ncxhjTCQKtcNHxhhjHGRFwRhjjE9I3bzWVCJyANh1GptIBA42U5yWxPZL/Wzf1M/2Td1Ccb/0UtU6L98M66JwukQkq767+iKZ7Zf62b6pn+2buoXbfrHDR8YYY3ysKBhjjPGJ9KIw1+kAIcr2S/1s39TP9k3dwmq/RPQ5BWOMMceL9JaCMcaYWqwoGGOM8YnIoiAil4rIVhHZLiL3Op0nmESkp4h8IiKbRWSjiNztnd5JRD4WkW3enx1rrXOfd19tFZFLnEsfHCISLSKrReRf3te2bwAR6SAib4vIFu/fzxm2b0BEfuz9v7RBRF4Tkfhw3i8RVxS8Q37+GfgWMBi4TkQGO5sqqKqAn6rqIGA8cIf3978XWKSq/YBF3td4500FhgCXAk9792FLdjewudZr2zcefwQ+VNWBwAg8+yii942IdAf+B8hU1aF4OvKcShjvl4grCsBYYLuqfqOqFcDrwBUOZwoaVc1V1VXe54V4/mN3x7MPXvIu9hJwpff5FcDrqlquqjuB7Xj2YYskIj2AbwPP1poc8ftGRNoBE4HnAFS1QlWPYPsGPB2LthIRF9AazxgwYbtfIrEo2JCfXiKSBowElgFdVTUXPIUD6OJdLNL21xPA/wLVtabZvoHewAHgBe+htWdFpA0Rvm9UdS/wKLAbyAWOqupCwni/RGJRaHTIz0ggIgnAfGCmqh5raNE6prXI/SUik4B8VV3p7yp1TGuR+wbPt+FRwF9UdSRQjPeQSD0iYt94zxVcAaQDKUAbEbmxoVXqmBZS+yUSi0KjQ362dCISg6cgvKKqC7yT80Qk2Ts/Gcj3To+k/TUBuFxEsvEcVjxfROZh+wY8v2uOqi7zvn4bT5GI9H1zIbBTVQ+oaiWwADiTMN4vkVgUInrITxERPMeFN6vqY7Vm/QOY5n0+DXi31vSpIhInIulAP2B5sPIGk6rep6o9VDUNz9/Ff1T1RmzfoKr7gT0iMsA76QJgE7ZvdgPjRaS19//WBXjO04Xtfgm5kdcCzYb8ZAJwE7BeRNZ4p/0CmAO8KSK34PlDvxpAVTeKyJt4PgCqgDtU1R382I6yfeNxF/CK98vUN8D38XyxjNh9o6rLRORtYBWe33M1nm4tEgjT/WLdXBhjjPGJxMNHxhhj6mFFwRhjjI8VBWOMMT5WFIwxxvhYUTDGGONjRcGYJhCRziKyxvvYLyJ7a72OrbWciMh/vH0G1bet10WkX3CSG+MfuyTVmFMkIrOBIlV9tI553wYuVNUfN7D+OcCNqnpb4FIa0zTWUjAmMG7AexeriLQRkfdEZK23z/1rvcssAS709q5pTEiwomBMYEwAajrWuxTYp6ojvH3ufwigqtV4uk4e4UxEY05mRcGYwOjkHa8CYD2eFsHvReRsVT1aa7l8PL1rGhMSrCgYExhVIhIFoKpfA6PxFIfficj9tZaLB0odyGdMnexYpjGBsRXPwDTbRSQFOKSq80SkCJhea7n+QCR1yGhCnBUFYwLjPeBcPOcMhgGPiEg1UAn8EEBEugKlNSN0GRMK7JJUYwLAO7DK31T1ogaW+TFwTFWfC14yYxpm5xSMCQDvt/9nGrp5DTjCfwd3NyYkWEvBGGOMj7UUjDHG+FhRMMYY42NFwRhjjI8VBWOMMT5WFIwxxvj8fw68GQa7bxO9AAAAAElFTkSuQmCC\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "fig, ax = plt.subplots()\n",
    "ax.set_title(\"hight_time\")\n",
    "ax.set_xlabel(\"T (s)\")\n",
    "ax.set_ylabel(\"h (m)\")\n",
    "figure1 = ax.plot(ref_time[10482-9000:], -local_z[10482-9000:],label='vehicle hight', c='black')\n",
    "figure2 = ax.plot(ref_sp_time[41:], -local_sp_z[41:],label='vehicle hight setpoint', c='blue',lw=0.7)\n",
    "plt.legend(loc='upper right')\n",
    "\n",
    "plt.savefig('D:/hight.png',dpi=1000,bbox_inches = 'tight')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "metadata": {},
   "outputs": [],
   "source": [
    "a=12100\n",
    "b=1400"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 18,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "fig = plt.figure()\n",
    "ax = fig.gca(projection='3d')\n",
    "ax.set_title(\"taking off\")\n",
    "ax.set_xlabel(\"x (m)\")\n",
    "ax.set_ylabel(\"y (m)\")\n",
    "ax.set_zlabel(\"z (m)\")\n",
    "figure1 = ax.plot(-local_x[0:a-9000], local_y[0:a-9000], -local_z[0:a-9000] ,label='vehicle local position', c='black')\n",
    "figure2 = ax.plot(-local_sp_x[0:b], local_sp_y[0:b], -local_sp_z[0:b], label='vehicle local position setpoint', c='blue',lw=0.7)\n",
    "plt.legend(bbox_to_anchor=(1.28,0))\n",
    "\n",
    "plt.savefig('D:/taking_off.png',dpi=1000,bbox_inches = 'tight')\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 20,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "c=13240-9000\n",
    "d=2539\n",
    "\n",
    "fig = plt.figure()\n",
    "ax = fig.gca(projection='3d')\n",
    "ax.set_title(\"landing\")\n",
    "ax.set_xlabel(\"x (m)\")\n",
    "ax.set_ylabel(\"y (m)\")\n",
    "ax.set_zlabel(\"z (m)\")\n",
    "figure1 = ax.plot(-local_x[c:], local_y[c:], -local_z[c:] ,label='vehicle local position', c='black')\n",
    "figure2 = ax.plot(-local_sp_x[d:], local_sp_y[d:], -local_sp_z[d:], label='vehicle local position setpoint', c='blue',lw=0.7)\n",
    "plt.legend(bbox_to_anchor=(1.28,0))\n",
    "\n",
    "plt.savefig('D:/landing.png',dpi=1000,bbox_inches = 'tight')\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
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